Robotic devices with arms and related methods

ABSTRACT

Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices have an arm. The arm can have two arm components coupled at a joint.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority as a continuation of U.S. patentapplication Ser. No. 13,107,272, filed on May 13, 2011, which claimspriority as a continuation of U.S. patent application Ser. No.12/816,909, filed on Jun. 16, 2010, which issued on Jun. 14, 2011 asU.S. Pat. No. 7,960,935, which claims priority as a continuation of U.S.patent application Ser. No. 11/947,097, filed on Nov. 29, 2007, Aug. 10,2010 as U.S. Pat. No. 7,772,796, which claims priority to U.S.Provisional Patent Application Ser. No. 60/868,030, filed Nov. 30, 2006and further claims priority as a continuation-in-part of U.S. patentapplication Ser. No. 11/695,944, filed on Apr. 3, 2007, which issued onFeb. 17, 2009 as U.S. Pat. No. 7,492,116, which is a continuation ofU.S. patent application Ser. No. 11/398,174, filed on Apr. 5, 2006,which issued on Apr. 3, 2007 as U.S. Pat. No. 7,199,545, which is acontinuation of U.S. patent application Ser. No. 10/616,096, filed onJul. 8, 2003, which issued on May 9, 2006 as U.S. Pat. No. 7,042,184,all of which are hereby incorporated herein by reference in theirentireties. Further, U.S. patent application Ser. No. 11/947,097 claimspriority as a continuation-in-part of U.S. patent application Ser. No.11/932,516, filed on Oct. 31, 2007, now abandoned, which is acontinuation of U.S. patent application Ser. No. 11/403,756, filed onApr. 13, 2006, which issued on Mar. 4, 2008 as U.S. Pat. No. 7,339,341,which is a continuation-in-part of U.S. patent application Ser. No.10/616,096, filed on Jul. 8, 2003, which issued on May 9, 2006 as U.S.Pat. No. 7,042,184, all of which are hereby incorporated herein byreference in their entireties. U.S. patent application Ser. No.11/947,097 also claims priority as a continuation-in-part of U.S. patentapplication Ser. No. 11/932,441, filed on Oct. 31, 2007, which is acontinuation of U.S. patent application Ser. No. 11/552,379, filed onOct. 24, 2006, which issued on May 13, 2008 as U.S. Pat. No. 7,372,229,which is a continuation of U.S. patent application Ser. No. 11/338,166,filed on Jan. 24, 2006, which issued on Oct. 24, 2006 as U.S. Pat. No.7,126,303, which is a continuation-in-part of U.S. patent applicationSer. No. 10/616,096, filed on Jul. 8, 2003, which issued on May 9, 2006as U.S. Pat. No. 7,042,184, all of which are hereby incorporated hereinby reference in their entireties.

FIELD OF THE INVENTION

The various embodiments disclosed herein relate to robotic devices usedfor medical procedures and related methods. More specifically, eachimplementation of the various robotic devices and methods include arobotic device having an arm.

BACKGROUND OF THE INVENTION

Laparoscopy is minimally invasive surgery (MIS) performed in theabdominal cavity. It has become the treatment of choice for severalroutinely performed interventions.

However, known laparoscopy technologies are limited in scope andcomplexity due in part to (1) mobility restrictions resulting from usingrigid tools inserted through access ports, and (2) limited visualfeedback. That is, long rigid laparoscopic tools inserted through smallincisions in the abdomen wall limit the surgeon's range of motion andtherefore the complexity of the surgical procedures being performed.Similarly, using a 2-D image from a typically rigid laparoscope insertedthrough a small incision limits the overall understanding of thesurgical environment. Further, current technology requires a third portto accommodate a laparoscope (camera), and each new viewpoint requiresan additional incision.

Robotic systems such as the da Vinci® Surgical System (available fromIntuitive Surgical, Inc., located in Sunnyvale, Calif.) have beendeveloped to address some of these limitations using stereoscopic visionand more maneuverable end effectors. However, da Vinci® is stillrestricted by the access ports. Further disadvantages include the sizeand high cost of the da Vinci® system, the fact that the system is notavailable in most hospitals and the system's limited sensory andmobility capabilities. In addition, most studies suggest that currentrobotic systems such as the da Vinci® system offer little or noimprovement over standard laparoscopic instruments in the performance ofbasic skills See Dakin, G. F. and Gagner, M. (2003) “Comparison ofLaparoscopic Skills Performance Between Standard Instruments and TwoSurgical Robotic Systems,” Surgical Endoscopy 17: 574-579; Nio, D.,Bemelman, W. A., den Boer, K. T., Dunker, M. S., Gouma, D. J., and vanGulik, T. M. (2002) “Efficiency of Manual vs. Robotical (Zeus) AssistedLaparoscopic Surgery in the Performance of Standardized Tasks,” SurgicalEndoscopy 16: 412-415; and Melvin, W. S., Needleman, B. J., Krause, K.R., Schneider, C., and Ellison, E. C. (2002) “Computer-Enhanced vs.Standard Laparascopic Antireflux Surgery,” J. Gastrointest Surg 6:11-16. Further, the da Vinci® system and similar systems are implementedfrom outside the body and will therefore always be constrained to somedegree by the limitations of working through small incisions. Forexample, these small incisions do not allow the surgeon to view or touchthe surgical environment directly, and they constrain the motion of theendpoint of the tools and cameras to arcs of a sphere whose center isthe insertion point.

There is a need in the art for improved surgical methods, systems, anddevices.

BRIEF SUMMARY

One embodiment disclosed herein relates to a robotic device having anagent delivery component.

In one implementation, the device is a mobile robotic device having anagent delivery component. The device can also have a body configured tobe disposed within a patient cavity, a translational mobility component,an actuator coupled with the translational mobility component, a powersource coupled with the actuator, and a controller component coupledwith the actuator. In one embodiment, the mobility component isconfigured to apply translational pressure on a surface for purposes ofmobility or immobility.

Various embodiments of agent delivery components disclosed herein haveat least one agent reservoir. Further embodiments have a mixing anddischarge component in fluidic communication with the at least onereservoir. The delivery component can also have at least one deliverytube in fluidic communication with the at least one reservoir, amanifold in fluidic communication with the at least one delivery tube,and/or a cannula in fluidic communication with the manifold.

The device, in another embodiment, is a robotic device having a body, anagent delivery component, a rotation component comprising at least oneof a pan component and a tilt component; a handle coupled with the body;and a non-attachable support component coupled with the body. Accordingto one embodiment, the body, rotation component, and support componentare sized to fit within an animal body cavity.

Various methods of performing a procedure are also disclosed. Oneimplementation includes positioning a robotic device in a cavity insidethe patient, operating a controller component to move the robotic deviceto a desired location within the cavity, and delivering an agent to thedesired location with an agent delivery component. In one embodiment,the device has a body, a mobility component, an actuator coupled withthe mobility component, a power source, a controller component, and anagent delivery component. In a further embodiment, the method includesusing a biopsy tool to obtain a biopsy sample from the desired locationprior to delivering the agent.

While multiple embodiments are disclosed, still other embodiments willbecome apparent to those skilled in the art from the following detaileddescription, which shows and describes illustrative embodiments of theinvention. As will be realized, the embodiments disclosed herein arecapable of modifications in various obvious aspects, all withoutdeparting from the spirit and scope of the various inventions.Accordingly, the drawings and detailed description are to be regarded asillustrative in nature and not restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a mobile robotic device, according toone embodiment.

FIG. 2 is a perspective view of a mobile robotic device, according toanother embodiment.

FIG. 3A is an exploded view of a mobile robotic device, according to oneembodiment.

FIG. 3B is a side view of a wheel of a mobile robotic device, accordingto one embodiment.

FIG. 3C is a plan view of a wheel of a mobile robotic device, accordingto one embodiment.

FIG. 4 depicts the adjustable-focus component implemented in a camerarobot, according to one embodiment.

FIG. 5 is a perspective view of a manipulator arm according to oneembodiment.

FIG. 6 is an exploded view of a manipulator arm according to oneembodiment.

FIG. 7 is a model of one embodiment of a manipulator arm labeled withthe parameters used to determine properties of the links.

FIG. 8 is a block diagram of the electronics and control system used inone embodiment of a manipulator arm.

FIG. 9A is a perspective view of a mobile robotic device, according toanother embodiment.

FIG. 9B is a perspective view of a mobile robotic device, according toyet another embodiment.

FIG. 10 is a plan view of a mobile robotic device having a drug deliverycomponent, according to another embodiment.

FIGS. 11A and B are schematic depictions of a drug delivery componentthat can be integrated into a mobile robotic device, according to oneembodiment.

FIG. 12 is a schematic depiction of a test jig for measuring the appliedforce required to move a plunger in a drug delivery component, accordingto one embodiment.

FIGS. 13A and B are schematic depictions of the profile of a drugdelivery component, according to one embodiment.

FIG. 14 is a side view of a stationary or fixed base robotic device inthe deployed configuration, according to one embodiment.

FIG. 15 is a side view of a fixed base robotic device in the deployedconfiguration, according to one embodiment.

FIG. 16 is a side view of a fixed base robotic device in the collapsedconfiguration, according to one embodiment.

FIG. 17A is a schematic depiction of a forceps tool, according to oneembodiment.

FIG. 17B is a schematic depiction of a biopsy tool modified to contain aload cell, according to one embodiment.

FIG. 18A shows measured cable force to biopsy in vivo porcine hepatictissue, according to one embodiment.

FIG. 18B shows measured extraction force to biopsy ex vivo bovine liver,according to one embodiment.

FIG. 19 shows drawbar force production from a robotic biopsy devicewhere maximum drawbar force is produced at 11 seconds, as shown, beforeslowing down, according to one embodiment.

FIG. 20 shows drawbar force production from a robotic biopsy device inwhich the device speed was first slowly increased and then decreased,according to one embodiment.

FIG. 21 depicts an actuation mechanism implemented on a biopsy robot forforce production measurements, according to one embodiment.

FIG. 22 shows force production measured from the robot biopsy mechanismdepicted in FIG. 21, according to one embodiment.

FIG. 23 depicts a laboratory two-component drug delivery system,according to one embodiment.

FIG. 24 depict representative results of mixing two drug components, onesolid and one liquid, according to one embodiment.

DETAILED DESCRIPTION

The present invention relates to various embodiments of robotic devicesfor use in surgical methods and systems. Generally, the robotic devicesare configured to be inserted into and/or positioned in a patient'sbody, such as a body cavity, for example.

The robotic devices fall into two general categories: mobile devices andstationary or “fixed base” devices. A “mobile device” includes anyrobotic device configured to move from one point to another within apatient's body via motive force created by a motor in the device. Forexample, certain embodiments of mobile devices are capable of traversingabdominal organs in the abdominal cavity. A “fixed base device” is anyrobotic device that is positioned by a user, such as a surgeon.

FIG. 1 depicts a mobile robotic device 10, according to one embodiment.The device 10 includes a body 12, two wheels 14, a camera 16, and awired connection component 18 (also referred to herein as a “tether”).Images collected by the camera 16 can be transmitted to a viewing deviceor other external component via the connection component 18. The device10 further includes a motor (not shown) configured to provide motiveforce to rotate the wheels 14, a power supply (not shown) configured tosupply power to the motor, and a controller (not shown) operably coupledto the device 10 via the connection component 18. The controller isconfigured to provide for controlling or operating the device 10 viamanipulation of the controller by a user. In one embodiment, the powersupply is positioned outside the body and the power is transmitted tothe motor via the connection component 18. Alternatively, the powersupply is disposed within or on the device 10.

In one alternative embodiment, the device 10 also has a rotationtranslation component 20 or “tail.” The tail 20 can limitcounter-rotation and assist the device 10 in translating the rotation ofthe wheels 14 into movement from one point to another. The “rotationtranslation component” is any component or element that assists with thetranslation or conversion of the wheel rotation into movement of thedevice. In one embodiment, the tail is spring loaded to retract andthus, according to one embodiment, provide for easy insertion of therobotic device 10 through the entry port of a laparoscopic surgicaltool.

In another implementation, the device 10 has no tail 20 and the wiredconnection component 18 or some other component serves to limitcounter-rotation.

Alternatively, a mobile robotic device according to another embodimentcan also have one or more operational components (also referred toherein as “manipulators”) and/or one or more sensor components. In theseembodiments, the device may or may not have an imaging component. Thatis, the device can have any combination of one or more imagingcomponents, one or more operational components, and one or more sensorcomponents.

The operational component might be, for example, biopsy graspers.Further, the one or more sensor components could be chosen from, forexample, sensors to measure temperature, blood or other tissue or bodyfluids, humidity, pressure, and/or pH.

In a further alternative, the connection component is a wirelessconnection component. That is, the controller is wirelessly coupled to,and wirelessly in connection with, the device 10. In such embodiments,the wireless connection component of the device 10 is a transceiver or atransmitter and a receiver to communicate wirelessly with an externalcomponent such as a controller. For example, FIG. 2 depicts a wirelessmobile robotic device 26, according to one embodiment.

In accordance with one implementation, a mobile robotic device could beused inside the body of a patient to assist with or perform a surgicalprocedure. In one aspect, the device is sized to fit through standardlaparoscopic tools for use during laparoscopic surgery. In anotheralternative, the device is sized to be inserted through a naturalorifice of the patient, such as the esophagus, as will be described infurther detail below. In yet another alternative, the device can besized and configured in any fashion to be used in surgical procedures.

Any of the several embodiments of mobile robotic devices describedherein can be used in any number of ways. For example, oneimplementation of a mobile robotic device could provide visual feedbackwith a camera system and tissue dissection or biopsy component with agrasper attached to it. Further, such a robot could also be equippedwith a sensor suite that could measure pressure, temperature, pH,humidity, etc.

It is understood that a robotic device as described generally above cantake on any known configuration and be equipped with any number ofsensors, manipulators, imaging devices, or other known components. Thatis, a robotic device conforming to certain aspects described herein can,in various embodiments, take on many different configurations, such ascylindrical or spherical shapes, or, alternatively, a shape such as thatof a small vehicle, and is not limited to the cylindrical roboticdevices depicted in FIG. 1, 2, or 3. Further, there are hundreds ofdifferent components known in the art of robotics that can be used inthe construction of the robotic devices described herein. For example,there are hundreds controllers, motors, power supplies, wheels, bodies,receivers, transmitters, cameras, manipulators, and sensing devices thatcan be used in various combinations to construct robotic devices asdescribed herein.

FIG. 3A depicts an exploded view of a mobile robotic device 30,according to one embodiment. The device 30 has a body or core component32 that includes a first portion 34 and a second portion 36.Alternatively, the core component 32 could be a single component. Acamera 38 is disposed in the first portion 34, and a tail 40 is attachedto the second portion 36. Alternatively, the camera 38 and/or the tail40 can be attached to either portion 34, 36 or be associated with thedevice 30 in any other fashion that allows for use of the camera 38 andthe tail 40. Further, a motor 42 is disposed in each slot 46 at each endof the body 32 and each motor 42 is operably coupled to one of thewheels 48.

In addition, as shown in FIG. 3A, the device 30 has two wheels 48, eachone being rotationally disposed over at least some portion of the body32. According to one embodiment, two bushings 50 are provided, eachdisposed between the body 32 and one of the two wheels 48. In one aspectof the invention, the bushing 50 supports the wheel 48 and prevents thewheel 48 from wobbling during rotation. Alternatively, no bushings areprovided, or some other type of known support component is provided. Inaccordance with one implementation, the wheels 48 are coupled to thedevice 30 via wheel set screws 52.

In one aspect of the invention, the body 32 has a center portion 54having a radius that is larger than the rest of the body 32.Alternatively, the center portion 54 has the same radius as the rest ofthe body 32. According to one embodiment, the body 32 can be constructedin any known fashion. For example, according to one embodiment, the body32 is fabricated via machining or stereolithography.

The device 30 as shown in FIG. 3A also has four batteries 44. Accordingto one embodiment, the batteries 44 are disposed within a cavity of thecore component 32. For example, in one embodiment, the batteries 44 aredisposed within the center portion 54 of the body 32. Alternatively, thedevice 30 can have one, two, three, or more than four batteries 44. Inone embodiment, each battery 44 is an Energizer™ 309 miniature silveroxide battery. Alternatively, each battery 44 can be any known smallbattery that can be used within a robotic device. In a furtheralternative, the power source can be any known power source.

In one implementation, the device 30 also has a wireless connectioncomponent (not shown) in the form of transmitter and a receiver (notshown) or a transceiver (not shown) for use in a wireless configurationof the device 30 such that any images collected by the camera 38 can betransmitted to an external component for viewing and/or storage of theimage and further such that any control signals can be transmitted froman external controller or other external component to the motor 42and/or other components of the device 30. Alternatively, the device 30has a wired connection component (not shown) that is attached to thedevice 30.

In another implementation, the device 30 can also have a light component(not shown) to illuminate the area to be captured by the imagingcomponent. Alternatively, the device 30 has no light component.

According to one embodiment, a robotic device similar to the device 30depicted in FIG. 3A can be constructed in the following manner. Anycomponents to be associated with the body 32, such as a camera 38 and atail 40, are coupled with the body 32. In addition, any components to bedisposed within the body 32, such as batteries 44, motors 42, and otherelectronic components (not shown), are positioned within the body 32. Inan embodiment in which the body 32 consists of two portions 34, 36,these components to be associated with or disposed within the body 32are positioned in or attached to the body 32 prior to the coupling ofthe two portions 34, 36. According to one embodiment, a bushing 50 isdisposed over each end of the body 32. Alternatively, no bushings 50 areprovided. Subsequently, the wheels 48 are positioned on the device 30.For example, according to one embodiment, the wheels 48 are positionedon the motor shafts 52.

The device 30 depicted in FIG. 3A, according to one embodiment, isconfigured to fit through a port in a known laparoscopic surgical tool.For example, in accordance with one implementation, the device 30 isconfigured to be inserted through a standard 15 mm medical port.

According to another embodiment, the robotic device 30 can beconstructed without any sharp edges, thereby reducing damage to thepatient during use of the device 30. In a further embodiment, the device30 is comprised of biocompatible materials and/or materials that areeasy to sterilize.

A mobile robotic device conforming to certain characteristics of variousembodiments discussed herein has a transport component, which is alsoreferred to herein as a “mobility component.” “Transport component” isany component that provides for moving or transporting the devicebetween two points. In one example, the transport component is one ormore wheels. For example, the transport components of the mobile roboticdevices depicted in FIGS. 1, 2, and 3 are wheels.

Alternatively, a robotic device as described herein can have any knowntransport component. That is, the transport component is any knowncomponent that allows the device to move from one place to another. Thepresent application contemplates use of alternative methods of mobilitysuch as walking components, treads or tracks (such as used in tanks),hybrid components that include combinations of both wheels and legs,inchworm or snake configurations that move by contorting the body of thedevice, and the like.

According to one embodiment as depicted in FIG. 3A, the robotic device30 has two wheels 48 independently driven with separate motors 42.According to one embodiment, the motors 42 are direct current motors. Inanother embodiment, each wheel 48 is attached to the motors 42 through aset of bearings and spur gears. In one implementation, the two separatemotors 42 provide forward, reverse and turning capabilities. That is,the two wheels 48 with two separate motors 42 are configured to allowthe device 30 to move forward or backward, or to turn. According to oneembodiment, the two wheels 48 move the device 30 forward or backward byeach wheel 48 rotating at the same speed. In this embodiment, the wheels48 provide for turning the device 30 by each wheel 48 turning at adifferent speed or in different directions. That is, the left wheelturns faster than the right wheel when the device 30 turns right, andthe right wheel turns faster than the left when the device turns left.In accordance with one implementation, the wheels 48 can also providefor a zero turning radius. That is, one wheel 48 can rotate in onedirection while the other wheel 48 rotates in the other direction,thereby allowing the device 30 to turn 180° or 360° while the centerportion of device 30 stays in substantially the same location.

Each wheel 48, according to one implementation, has a surface texture onits exterior surface as shown in FIGS. 3A, 3B, and 3C. According to oneembodiment, the surface texture creates traction for the wheel 48 as itmoves across a tissue, organ, or other body surface.

FIGS. 3B and 3C depict one embodiment in which the wheels 48 have asurface texture consisting of raised portions 58 (also referred toherein as “grousers”) disposed in a particular configuration on thewheels 48. The raised portions 58 are those portions of the wheel 48that contact the surface that the wheels 48 are traversing.

The raised portion 58, according to one embodiment, defines an outerdiameter 58 (d_(∞)), while the wheel 48 defines an inner diameter 56(d_(r)). According to another embodiment, the inner and outer diametersof the wheels in one implementation are 17 mm and 20 mm, respectively.Alternatively, the grouser depth is 1.5 mm, where grouser depth is equalto (d_(∞)−d_(r))/2. In a further alternative, the diameters and/or thegrouser depth are any that would be useful for wheels on the mobiledevices disclosed herein.

In another embodiment, the helical profile 59 of the wheels has a pitchof 30° as depicted in FIG. 3C. Alternatively, the helical profile canhave a pitch ranging from about 0 degrees to about 90 degrees. Inanother aspect, the wheels 48 have treads. Alternatively, the surfacetexture is any surface characteristic that creates traction for thewheel 48.

In accordance with one implementation, the transport componentconstitutes at least about 80% of the external surface area of therobotic device. Alternatively, the transport component constitutes atleast about 90% of the external surface area of the robotic device. In afurther alternative, the transport component constitutes from about 80%to about 98% of the external surface area of the robotic device. In yetanother alternative, the transport component constitutes any percentageof the external surface area of the robotic device.

The wheels depicted in FIGS. 1, 2, and 3 have a round, tubular-typetreaded configuration. Alternatively, virtually any configuration couldbe employed, such as a round, square, spherical, or triangularconfiguration.

In addition, the wheels depicted in FIGS. 1, 2, and 3 are comprised ofaluminum. Alternatively, the wheels are constructed of rubber or acombination of aluminum and rubber. In a further alternative, virtuallyany material that allows for traction or mobility can be used toconstruct the wheel or other transport component. In one embodiment, thematerial is any material that provides for traction on unusual, slick,hilly, deformable, or irregular surfaces such as any internal tissues,organs such as the liver, stomach, and/or intestines, or other internalsurfaces, crevices, and contours of a patient, all of which hasdifferent surface properties.

In certain alternative embodiments, the robotic device has one or moresensor components. In various embodiments, such sensor componentsinclude, but are not limited to, sensors to measure or monitortemperature, blood, any other bodily fluids, fluid composition, presenceof various gases, such as CO₂, for example, or other parameters thereof,humidity, electrical potential, heart rate, respiration rate, humidity,pressure, and/or pH. Further, the one or more sensor components caninclude one or more imaging components, which shall be considered to bea type of sensor component for purposes of this application. Thesensors, including imaging devices, can be any such components ordevices known in the art that are compatible with the various designsand configurations of the robotic devices disclosed herein.

According to one embodiment, a robotic device having one or more of thesensors described herein assists the user in the performance of asurgical procedure. In accordance with one implementation, the one ormore sensors restore some of the natural monitoring or sensingcapabilities that are inherently lost when using standard laparoscopictools. Thus, the one or more sensor components allow the user to performmore complex procedures and/or more accurately monitor the procedure orthe patient.

According to one embodiment, the imaging component can be a camera orany other imaging device. The imaging component can help to increase orimprove the view of the area of interest (such as, for example, the areawhere a procedure will be performed) for the user. According to oneembodiment, the imaging component provides real-time video to the user.

Current standard laparoscopes use rigid, single view cameras insertedthrough a small incision. The camera has a limited field of view and itsmotion is highly constrained. To obtain a new perspective using thisprior art technique often requires the removal and reinsertion of thecamera through another incision, increasing patient risk. In contrast tosuch limited imaging, a robotic device having one or more imagingcomponents according to various embodiments described herein eliminatesmany of the limitations and disadvantages of standard laparoscopy,providing for an expanded and adjustable field of view with almostunlimited motion, thereby improving the user's visual understanding ofthe procedural area.

As used herein, the terms “imaging component,” “camera,” and “imagingdevice” are interchangeable and shall mean the imaging elements andprocessing circuitry which are used to produce the image signal thattravels from the image sensor or collector to a viewing component.According to one embodiment, the image is a moving video image and theviewing component is a standard video viewing component such as atelevision or video monitor. Alternatively, the image is a still image.In a further alternative, the images are a combination of still andmoving video images. The term “image sensor” as used herein means anycomponent that captures images and stores them. In one embodiment, theimage sensor is a sensor that stores such images within the structure ofeach of the pixels in an array of pixels. The terms “signal” or “imagesignal” as used herein, and unless otherwise more specifically defined,means an image which is found in the form of electrons which have beenplaced in a specific format or domain. The term “processing circuitry”as used herein refers to the electronic components within the imagingdevice which receive the image signal from the image sensor andultimately place the image signal in a usable format. The terms “timingand control circuits” or “circuitry” as used herein refer to theelectronic components which control the release of the image signal fromthe pixel array.

In accordance with one implementation, the imaging component is a smallcamera. In one exemplary embodiment, the imaging component is acomplementary metal oxide semiconductor (“CMOS”) digital image sensorsuch as Model No. MT9V125 from Micron Technology, Inc., located inBoise, Id. Alternatively, the imaging component is a square 7 mm camera.In an alternative example, the camera can be any small camera similar tothose currently used in cellular or mobile phones. In another example,the imaging device can be any imaging device currently used in or withendoscopic devices. In one embodiment, the imaging device is any devicethat provides a sufficient depth of field to observe the entireabdominal cavity.

According to another embodiment, the imaging device can employ anycommon solid state image sensor including a charged coupled device(CCD), charge injection device (CID), photo diode array (PDA), or anyother CMOS, which offers functionality with simplified systeminterfacing. For example, a suitable CMOS imager including activepixel-type arrays is disclosed in U.S. Pat. No. 5,471,515, which ishereby incorporated herein by reference in its entirety. This CMOSimager can incorporate a number of other different electronic controlsthat are usually found on multiple circuit boards of much larger size.For example, timing circuits, and special functions such as zoom andanti-jitter controls can be placed on the same circuit board containingthe CMOS pixel array without significantly increasing the overall sizeof the host circuit board. Alternatively, the imaging device is aCCD/CMOS hybrid available from Suni Microsystems, Inc. in Mountain View,Calif.

In accordance with one implementation, the imaging device provides videooutput in NTSC format. For example, any commercially-available smallNTSC video format transmission chips suitable for the devices describedherein can be used. Alternatively, any known video output in any knownformat can be incorporated into any device described herein.

The imaging component, according to one embodiment, has a manual focusadjustment component. Alternatively, the imaging component has amechanically-actuated adjustable-focus component. A variety ofadjustable-focus mechanisms are known in the art and suitable foractuating focusing of many types of known imaging components.

In one embodiment, the imaging component is capable of focusing in rangefrom about 2 mm to infinity. Alternatively, the imaging component canhave a focusing range similar to that of any known adjustable focuscamera.

Alternatively, the imaging component has an adjustable-focus mechanism60 as depicted in FIG. 4 that employs a motor 62 that is directlyconnected to a lead screw 64 which is rotated by motor 62. In thisembodiment, as the lead screw 64 rotates, it drives a lead nut 66 up anddown. This up-and-down motion is translated by a linkage 68 to a slider70 that moves left to right. Slider 70 is held in place by a mechanismhousing or guide 72. A lens or image sensor mounted to slider 70 can betranslated back and forth from left to right to allow adjustablefocusing. According to some embodiments, the motor 62 used to power theadjustable-focus mechanism of the imaging component can also be used topower other components of the robotic device, such as, for example, abiopsy component as described in greater detail below.

In accordance with another embodiment, the imaging component can becontrolled externally to adjust various characteristics relating toimage quality. For example, according to one embodiment, one or more ofthe following can be adjusted by a user: color, white balance,saturation, and/or any other known adjustable characteristic. Accordingto one embodiment, this adjustment capability can provide qualityfeedback in poor viewing conditions such as, for example, low lighting.

According to one implementation, any mobile imaging device disclosedherein can have any known lens that can be used with such devices. Inone particular embodiment, the lens is model no. DSL756A, a plastic lensavailable from Sunex, located in Carlsbad, Calif. This embodimentprovides only a short depth of field, which requires adjustable-focuscapability. To attain this, the lens of this implementation is attachedto an actuation mechanism to provide adjustable focus capability. Thelens is moved by the actuation mechanism to provide a range of focusfrom 2 mm to infinity. Alternatively, the lens can be any lens that canbe incorporated into any of the imaging devices described herein.

In a further alternative, the imaging component can include an imagestabilization component. For example, according to one embodiment, thedevice could include on-board accelerometer measurements with imagemotion estimates derived from optical flow to yield base motionestimates, such as are known in the art. Alternatively, the imagestabilization component can be any such commercially-availablecomponent. Optical flow has been shown to yield reliable estimates ofdisplacements computed across successive image frames. Using these robotbase motion estimates, image stabilization algorithm can be used toprovide image stabilization. Alternatively, any known imagestabilization technology can be incorporated for use with the imagingcomponent.

In certain embodiments, the camera is fixed with respect to the body ofthe robotic device, such that the position of the robot must be changedin order to change the area to be viewed. Alternatively, the cameraposition can be changed with respect to the device such that the usercan move the camera with respect to the robotic device. According to oneembodiment, the user controls the position of the camera using acontroller that is operably coupled to the device as described infurther detail herein.

The robotic device can also, according to one embodiment, have alighting component to light the area to be viewed. In one example, thelighting component is an LED light. Alternatively, the lightingcomponent can be any illumination source.

According to one implementation, the camera is disposed on the centerportion of the body of the device, as shown in FIG. 3A. Alternatively,the camera can be disposed on any portion of the body. In a furtheralternative, the camera can be disposed anywhere on the robotic device.

According to one embodiment, the robotic device has one or moreoperational components. The “operational component,” as used herein, isintended to mean any component that performs some action or procedurerelated to a surgical or exploratory procedure. According to oneembodiment, the operational component is also referred to as a“manipulator” and can be a clamp, scalpel, any type of biopsy tool, agrasper, forceps, stapler, cutting device, cauterizing device,ultrasonic burning device, or other similar component, as set forth infurther detail herein. In yet another embodiment, the operationalcomponent is any device that can perform, or assist in the performanceof, any known surgical or exploratory laparoscopic procedure. In oneaspect, the one or more operational components assist with proceduresrequiring high dexterity. In currently known techniques, movement isrestricted, as passing the rigid laparoscopic tool through a smallincision restricts movement and positioning of the tool tip. Incontrast, a robotic device having an operational component inside acavity is not subject to the same constraints.

In one implementation, the operational component can also include an armor other positioning component. For example, the operational componentcan include an arm and a biopsy tool. Alternatively, the operationalcomponent can include a positioning component and any operationalcomponent as described above.

According to one embodiment, any operational component described orcontemplated herein can be an off-the-shelf surgical tool or modifiedversion thereof. Alternatively, any such operational component can beconstructed de novo.

The operational component depicted in FIGS. 5 and 6 is a manipulator arm80 having three arms or “links” 82, according to one implementation. Thearm 80 has two joints 84, each coupled to a motor 86. According to oneembodiment, as best depicted in FIG. 6, the links 82 are composed of twohalves that attach in only one configuration.

The joints 84 are configured in any known fashion. In one example asdepicted in FIGS. 5 and 6, each joint 84 has a gear 88 coupled to themotor, and another gear 90 coupled to a pin 92. In one aspect, the gearsare bevel gears. According to one embodiment, the gears are standardmiter gears available from Stock Drive Products/Sterling Instruments,located in New Hyde Park, N.Y.

In one implementation, the arm was constructed using stereolithography.According to one embodiment, stereolithography can be used to constructthe linkages and the base section out of a cured resin material similarto plastic.

The motor, according to one embodiment, that can be used in the linkagesis a DC micromotor with encoders manufactured by MicroMo Electronics,located in Clearwater, Fla. The motor is a 6 V motor having a 15,800 rpmno-load speed, 0.057 oz-in stall torque, and weighed 0.12 oz. The motorhas an 8 mm diameter and is 16 mm long. Due to its high no-load speed, aprecision planetary gearhead is used. Further description of the motor,gearhead, and an encoder that can be used with the motor are describedin U.S. Pat. No. 7,199,545. Alternatively, the arm can use a low voltagemotor, such as a 3 V motor.

In one implementation, the arm has an encoder used for the indicationand control of both shaft velocity and the direction of rotation, aswell as for positioning. In one embodiment, the encoder is a 10 mmmagnetic encoder. It is 16.5 mm long, but only adds 11.5 mm to the totallength of the assembly.

FIG. 7A shows a schematic of one manipulator embodiment with L_(L),L_(BJ), M₁, M₂, m₁g, m₂g and W_(p) labeled. Without being limiting, theschematic was used for calculating various characteristics relating toone manipulator embodiment and is explained in further detail in U.S.Pat. No. 7,199,545. Based on the testing, it was determined that forthis particular embodiment, a reduction ratio off 64:1 providessufficient torque while optimizing the design. Alternatively, precisiongears with other reduction ratios may be used.

In one embodiment as depicted in FIG. 8, the electronics and control forthe arm consists of four major sections: PC with a MEI DSP motor driverPCI card, an analog circuit to shift and scale the output voltage fromthe MEI card, a microcontroller to convert each axis' analog voltage toa PWM signal, and an H-Bridge ICS to drive the motors. This embodimentis described in further detail in U.S. Pat. No. 7,199,545.

In one embodiment, the manipulator is a biopsy forceps or grasper.According to one aspect, the manipulator includes a biopsy forceps orgraspers at one end of an arm.

In another embodiment, the manipulator of the present invention includesan actuation mechanism that generates forces required for operating themanipulator. For example, according to one embodiment in which themanipulator is a biopsy forceps or graspers, the manipulator also has anactuation mechanism that generates sufficient force to allow the forcepsor graspers to cut/obtain a biopsy sample. According to one embodiment,the actuation mechanism generates a drawbar force of magnitude greaterthan 0.6 N. Alternatively, the actuation mechanism generates any amountof force sufficient to obtain a biopsy sample. In a further alternative,the actuation mechanism generates a sufficient force to operate any typeof manipulator, such as a clamp, stapler, cutter, cauterizer, burner,etc.

FIG. 9A depicts a robotic device 100 having a biopsy tool 102. Thecylindrical robotic device 100 has a cylindrical body 104 having anappendage or arm 106 with a biopsy forceps 102 at one end of the armthat is used for sampling tissue. According to one embodiment, therobot's grasper 102 can open to 120 degrees. In a further alternative,the forceps 102 can have any known configuration.

In one embodiment, the body 104 also contains an imaging component (notshown), camera lens 108, motor and video control boards (not shown), andactuation motor (not shown) and a mechanism for camera adjustable-focus(not shown). In this embodiment, the imaging component and lens 108 areoffset to the side to allow space for the biopsy grasper 102. The wheel110 on the camera side has slots 112 machined in it to allow for spacefor the camera lens 108 to see the abdominal environment and the biopsygrasper 102. Alternatively, the camera and lens 108 are disposedanywhere on the robotic device 100 such that the camera can be used toview the surgical area and/or the biopsy grasper 102 during use. Thedevice 100 a wired connection component 114 that is connected to anexternal component (not shown).

FIG. 9B depicts a mobile robotic device 120, according to an alternativeembodiment. In this embodiment, the device 120 is wireless. That is, thedevice 120 has no wired connection component physically connecting thedevice 120 to an external component positioned outside the patient'sbody. In the configuration of FIG. 9B, the device 120 has aconfiguration similar to the wired device in FIG. 9A. That is, thedevice 120 has a cylindrical body 122 and an arm 124 having a biopsytool 126. Further, the device 120 can also have other components similarto those described above with respect to the embodiment in FIG. 9A. Inone alternative implementation, the device 120 also has a “tail” 128,described in further detail above, connected to the body 122.

In use, a robotic device with a camera and a biopsy tool such as thedevices depicted in FIGS. 9A and 9B can be used to obtain a biopsysample. The device can be inserted into the body, such as through astandard trocar or using any of the natural orifice procedures describedherein. The user can control the device using visual feedback from theon-board camera. This mobility allows the robot to move to the area ofinterest to sample specific tissues. The biopsy tool can then beactuated to obtain a tissue sample. In a further embodiment, the biopsyforceps provide a clamp capable of clamping shut a severed artery.

In an alternative embodiment, the manipulator is a drug deliverycomponent. That is, according to one implementation, robotic devicesdisclosed herein can have a drug delivery component or system thatdelivers an agent to an animal, including a human. In one embodiment,the agent is a hemostatic agent. Alternatively, the agent can be anydeliverable composition for delivery to an animal, including a human.

FIG. 10 depicts a robotic device 140 having an agent delivery system142, according to one embodiment. In this embodiment, the deliverysystem 142 is disposed within the cylindrical body 144 and two wheels146 are rotatably disposed over the cylindrical body 144. The device 140can also have an imaging component (not shown). Alternatively, thedevice need not have an imaging component.

FIG. 11A depicts an agent delivery component 160, according to oneembodiment. The delivery component 160 in this embodiment is an agentstorage and dispensing system. In one embodiment, the agent is ahemostatic agent. The system has dual reservoirs 162 that can containthe agent, a mixing and discharge component 164, and an actuationcomponent 166. According to one embodiment, the mixing and dischargecomponent 164 has two delivery tubes 168, a manifold 170 and a cannula172. Alternatively, the mixing and discharge component 164 is actuallytwo separate components: a mixing component and a discharge component.In one implementation, the actuation component 166 has a crank wheel174, a catch lever 176, and a ratcheting linkage 178 coupling the crankwheel 174 to plungers 180 disposed within the reservoirs 162.

In one embodiment, the dual reservoirs 162 of FIG. 11A are configured tostore and isolate two agents or agent components. In one implementation,the reservoirs 162 are similar to those used in standard dual syringeinjection systems. According to one embodiment, the two components aretwo separate components of the hemostatic agent. That is, as isunderstood in the art, many hemostatic agents are comprised of twocomponents that must be preserved separately to prevent prematurecoagulation prior to application. In this embodiment, the storage anddispensing system has dual reservoirs system configured to store andisolate the two components until they are dispensed. Alternatively, theagent is a single component hemostat that does not need to be combinedwith another component, and the same agent is placed in both reservoirs.In a further alternative, the system has a single reservoir or containerfor any agent that need not be combined with another. In yet anotheralternative, the system can have more than two reservoirs.

FIG. 11B, along with FIG. 11A, provides an additional perspectiverelating to the actuation component 166. The actuation component 166 haspre-loaded torsional springs 182 that are pre-wound and rigidly attachedto the crank wheel 174. In addition, the lever 176, according to oneembodiment, is also attached to torsion springs 184. When the lever 176is released, the stored mechanical energy in the springs 182 causes thecrank wheel 174 to rotate. The off-center attachment point of theratcheting linkage 178 to the crank wheel 174 converts rotationaldisplacement of the wheel 174 into linear displacement of the plungers180.

According to one embodiment, the spring-loaded catch lever 176 is ashape memory alloy and is actuated with a SMA wire trigger. SMA wiresare made of a nickel-titanium alloy that is easily stretched at roomtemperature. However, as the wires are heated by passing an electriccurrent through them, they shorten in length and exert a force that isgreater than the force required to stretch them. In one embodiment, thewires shorten in length by up to approximately 8% and exertapproximately 5 times the force required to stretch them.

A further alternative embodiment of the actuator mechanism is depictedin FIG. 12 and is described in further detail below in Example 6. Thatmechanism uses a permanent magnet direct current motor as the forceactuator.

Alternatively, the actuator mechanism can be any known device forproviding for linear displacement of the reservoir plungers 180 thatdispense the agent. According to one implementation, the actuatorensures uniform delivery of the agent from the storage reservoir(s).

FIG. 13A depicts a mixing component 200, according to one embodiment.The system 200 includes a manifold 202 and two delivery components ortubes 204, 205. Projecting from the end of the manifold 202 is a lengthof tubing 206 that contains one of the fluid flows and fits inside alarger diameter cannula 208. The system 200 has a mixing site 210 and adischarge site 212. The mixing component is a device for mixing anddelivering at least two fluid components simultaneously through a singlecannula. In implementations in which the agent is a hemostatic agentrequiring two compounds, the mixing component thoroughly mixes the twocomponents as necessary to promote optimal coagulation. In oneembodiment, a mixing system ensures that the two components come intocontact near the exit port in such a way as to promote efficient mixingand that all reactive material is ejected to prevent clogging of thecannula.

FIG. 13B depicts the flow of agents in the mixing component 200 of FIG.13A. In this embodiment, the fluids contained in the two storagereservoirs (not shown) are delivered simultaneously to the manifold 202through the delivery tubes 204, 205. The fluid flow in delivery tube 205exits the manifold 202 and is forced around the tubing 206 through thelength of the cannula 208. The fluids mix in the mixing site 210 nearthe discharge site 212, and any reactive material is ejected from thelarger diameter cannula 208 at the discharge site 212. According to oneembodiment, the point at which mixing commences and, hence, the timeavailable prior to delivery, can be adjusted by changing the diametersand lengths of the tubing and cannula. Further, spirals or otherfeatures can be incorporated along the inside surface of the cannula 208to enhance the mixing efficiency of this system.

Alternatively, the mixing component is any known component for mixingtwo agents, including, but not limited to, hemostatic agents, that canimplemented with one or more of the robotic devices described herein.

In accordance with one aspect, the reservoir or reservoirs have at leastone externally accessible loading port configured to allow for loading,injecting, or otherwise placing the agent or components into thereservoir. The loading port is a standard rubber stopper and sealcommonly used for vaccine vials. Such a rubber stopper and sealfacilitates transfer of any agent using a standard syringe.Alternatively, the loading port is any known type of loading port of anyknown configuration. According to one embodiment, such a loading port isuseful for known agents that must be reconstituted shortly before use,such as on-site reconstitution. As such, the loading port or portsaccommodate the need for on-site loading of the compounds.

According to one aspect, any robotic device embodiment described hereinis connected to an external controller via a connection component.According to one embodiment, the connection component is a wire, cord,or other physical flexible coupling. For purposes of this application,the physical or “wired” connection component is also referred to as“tethered” or “a tether.” The flexible connection component can be anycomponent that is coupled at one end to the robotic device and isflexible, pliable, or otherwise capable of being easily formed ormanipulated into different shapes or configurations. According to oneembodiment, the connection component includes one or more wires or cordsor any other type of component operably coupled at the second end to anexternal unit or device. The component in this embodiment is configuredto transmit or convey power and/or data, or anything else necessary oruseful for operation of the device between the robotic unit and theexternal unit or device. In a further alternative, the connectioncomponent comprises at least two wires or cords or other suchcomponents, each of which are connected to a separate external unit(which, in one example, are a power source and a data transmission andreceiver unit as described below).

Alternatively, the connection component is a wireless connectioncomponent. That is, the robotic device communicates wirelessly with acontroller or any other external component. The wireless coupling isalso referred to herein as “untethered.” An “untethered device” or“wireless device” is intended for purposes of this application to meanany device that is fully enclosed within the body such that no portionof the device is external to the body for at least a portion of thesurgical procedure or, alternatively, any device that operates withinthe body while the device is not physically connected to any externalobject for at least a portion of the surgical procedure. In oneembodiment, an untethered robotic device transmits and receives datawirelessly, including data required for controlling the device. In thisembodiment, the robotic device has an internal power supply, along witha receiver and transmitter for wireless connection.

The receiver and transmitter used with a wireless robotic device asdescribed herein can be any known receiver and transmitter. For example,any known receiver and/or transmitter used in remote vehicle lockingdevices, remote controls, mobile phones.

In one embodiment, the data or information transmitted to the roboticdevice could include user command signals for controlling the device,such as signals to move or otherwise operate various components.According to one implementation, the data or information transmittedfrom the robotic device to an external component/unit could include datafrom the imaging component or any sensors. Alternatively, the data orinformation transmitted between the device and any externalcomponent/unit can be any data or information that may be useful in theoperation of the device.

According to another implementation, any robotic device embodimentdescribed herein is connected via a connection component not only to theexternal controller, but also to one or more other robotic devices, suchdevices being either as described herein or otherwise known in the art.That is, according to one embodiment, two or more robotic devices can beoperably coupled to each other as well as an external unit or device.According to one embodiment in which there are two robotic devices, thetwo devices are operably coupled to each other and an external unit ordevice by a flexible connection component. That is, the two devices areoperably coupled to each other by a flexible connection component thatis coupled to each device and each device is also operably coupled to anexternal unit or device by a flexible connection component. In oneembodiment, there are three separate flexible connection components: (1)a connection component connecting the two robotic devices, (2) aconnection component connecting one of the robotic devices to theexternal unit, and (3) a connection component connecting the other ofthe robotic devices to the external unit. Alternatively, one connectioncomponent is operably coupled to both devices and the external unit. Ina further alternative, any number of connection components can be usedin any configuration to provide for connection of two robotic devices toeach other and an external unit.

Alternatively, the two or more robotic devices are operably coupled toeach other as well as an external unit or device in an untetheredfashion. That is, the robotic devices are operably coupled to each otherand an external unit or device in a fashion such that they are notphysically connected. In one embodiment, the devices and the externalunit are operably coupled wirelessly.

In one aspect, any robotic device described herein has a drivecomponent. The “drive component,” as defined herein, is any componentconfigured to provide motive force such that the robotic device can movefrom one place to another or some component or piece of the roboticdevice can move, including any such component as described herein. Thedrive component is also referred to herein as an “actuator.” In oneimplementation, the drive component is a motor.

The actuator can be chosen from any number of different actuators. Forexample, one actuator that can be incorporated into many, if not all, ofthe robotic devices described herein, is a brushless direct currentmotor, such as, for example, model no. SBLO4-0829 with gearhead PG04-337(available from Namiki Precision of California, which is located inBelmont, Calif.). According to one embodiment, this motor requiresexternal connection, which is generally provided by a circuit suppliedby the manufacturer. In another implementation, the motor is model no.SBL02-06H1 with gearhead PG02-337, also available from Namiki.

Alternatively, any brushless direct current motor can be used. In afurther alternative, another motor that can be used to operate variouscomponents of a robotic device, such as a manipulator, is a permanentmagnet DC motor made by MicroMo™ Electronics, Inc. (located inClearwater, Fla.). In yet another alternative, any known permanentmagnet DC motors can be used with the robotic devices described herein.

The motor runs on a nominal 3 V and can provide 10.6 [mNm] stall torqueat 80 rpm. This motor provides a design factor of 4 for the robot on a75-degree slope (if frictional force is sufficient to prevent sliding).

In addition, other actuators that can be used with the robotic devicesdescribed herein include shape memory alloys, piezoelectric-basedactuators, pneumatic motors, hydraulic motors, or the like.Alternatively, the robotic devices described herein can use any type ofcompatible actuator.

According to one embodiment, the actuator can have a control component,also referred to as a “control board.” The control board can have apotentiometer that controls the speed of the motor relationship betweenthe terminals that created the voltage divider. According to oneembodiment, the control board can also control the direction of themotor's rotation.

In accordance with one implementation, any robotic device as describedherein can have an external control component, also referred to hereinas a “controller.” That is, at least some of the devices herein areoperated by a controller that is positioned at a location external tothe animal or human.

In one embodiment, the external control component transmits and/orreceives data. In one example, the unit is a controller unit configuredto control the operation of the robotic device by transmitting data suchas electronic operational instructions via the connection component,wherein the connection component can be a wired or physical component ora wireless component. The data transmitted or conveyed by the connectioncomponent can also include, but is not limited to, electronic datacollected by the device such as electronic photographs or biopsy data orany other type of data collected by the device. Alternatively, theexternal unit is any component, device, or unit that can be used totransmit or receive data.

According to one embodiment, the external component is a joystickcontroller. In another example, the external component is any component,device, or unit that can be used to control or operate the roboticdevice, such as a touch screen, a keyboard, a steering wheel, a buttonor set of buttons, or any other known control device. Further, theexternal component can also be a controller that is actuated by voice,such as a voice activation component. Further, a controller may bepurchased from commercial sources, constructed de novo, or commerciallyavailable controllers may be customized to control any robotic device orany robotic device components disclosed herein.

In one example, the controller includes the “thumb sticks” from aPlaystation™ Dual-Shock controller. In this example, the Playstation™controller had two analog thumb sticks, each with two degrees offreedom. This allows the operator to move the thumbsticks a finiteamount in an XY coordinate plane such that pushing the stick forward alittle yields a different output than pushing the stick forward a greatdeal. That is, the thumb sticks provide speed control such that movementcan be sped up or slowed down based on the amount that the stick ispushed in the corresponding direction.

According to one embodiment, the connections between the controller andthe robotic device are configured such that each wheel is controlled bya separate joystick.

In another example, the controller is a directional pad similar to thedirectional pad on an original Nintendo™ game system. The pad resemblesa + sign and has four discrete directions.

In use, the controller can be used to control the movement of therobotic device and further to control the operation of any components ofthe device such as a sensor component, a manipulator component, or anyother such component. For example, one embodiment of the controllercontrols the wheels, the focus adjustment of the camera, and furthercontrols the biopsy tool.

In accordance with one embodiment, the control component also serves asa power source for the robotic device.

In accordance with one embodiment, a mobile robotic device is coupled toan image display component. Signal from the camera is transmitted in anyformat (e.g., NTSC, digital, PAL, etc.) to the image display component.According to one embodiment, the signal is a video signal or a stillimage signal. In one embodiment, the image display component is a videodisplay that can be viewed by the operator. Alternatively, the imagedisplay component is a still image display. In a further alternative,the image display component displays video and still images. In oneembodiment, the image display component is a standard video monitor.Those of ordinary skill in the art recognize that a signal from a cameracan be processed to produce a display signal for many different types ofdisplay devices, including televisions configured to display an NTSCsignal, televisions configured to display a PAL signal, cathode ray tubebased computer monitors, LCD monitors, and plasma displays. In a furtherembodiment, the image display component is any known image displaycomponent capable of displaying the images collected by a camera thatcan be used with any of the robotic devices described herein.

In one embodiment, the image display component is a component of thecontroller.

A robotic device as described herein, according to one implementation,has a power source or power supply. According to one embodiment, thepower source is integrated into the body of robotic device. In thisembodiment, the power source can be one or more batteries. The batterycan be an alkaline, lithium, nickel-cadmium, or any other type ofbattery known in the art.

Alternatively, the power source is positioned in a location external tothe body of the patient. In this embodiment, the connection componentoperably coupled to the power source and the robotic device transmits orconveys power between the power source and the robotic device. Forexample, the external power source according to one embodiment is anelectrical power source such as a battery or any other source ofelectricity. In this example, the electricity is conveyed from thebattery to the robotic device via the connection component, which is anyknown wire or cord configured to convey electricity, and therebysupplies power to the robotic device, including the motor of the roboticdevice. In one example, the power source is integrated into the controlcomponent or is operably coupled to the control component.

According to one embodiment, the power source can be any battery asdescribed above. Alternatively, the power source can be magneticinduction, piezoelectrics, nuclear, fluid dynamic, solar or any otherknown power source that can be used to supply power to any roboticdevice described herein.

Certain embodiments of robotic devices disclosed herein relate to fixedbase robots. As discussed above, a “fixed base robotic device” is anyrobotic device that has no propelled transport component or ispositioned manually by a user. Such a device is also referred to hereinas a “stationary” robotic device. In one embodiment, a fixed base robothas a camera and is positioned manually by the user to provide visualfeedback or a visual overview of the target area. A fixed base roboticcamera device according to one implementation facilitates theapplication of laparoscopy and other surgical techniques by providing aremote-control camera robot to provide visual feedback during a surgicalprocedure, thereby minimizing incisions and patient risk.

FIG. 14 depicts a robotic imaging device 220, according to oneembodiment. The device 220 has a main body 222 with an imaging component224 disposed therein, an adjustable-focus component 228, and a supportcomponent 234 for supporting the body 222 inside an open space (e.g., abody cavity). In one embodiment, the device 220 further contains a lightcomponent 226 for illumination, a handle 232, and a controller 230 forcontrolling various components of the device 220 such as the panning ortilting components (discussed below) or the adjustable-focus component228. According to one embodiment, the device 220 is sized for use withstandard laparoscopic tools.

In one embodiment, the device 220 is made of a biocompatible materialcapable of being easily sterilized. According to one embodiment, thematerials can include, but are not limited to, sterilizable plasticsand/or metals. Alternatively, the device 220 can be made of any materialthat can be used in surgical procedures.

The body 222 can take on many different configurations, such ascylindrical or spherical shapes so as to be compatible with laparoscopictools known currently in the art. However, as with the other components,the body 222 configuration is not limited to that exemplified herein. Ingeneral, the only constraints on the shape of the body are that the bodybe able to incorporate at least one of the components described herein.

The handle 232, according to one embodiment as depicted in FIG. 14, is aretractable or otherwise movable handle 232 formed into the shape of aring or loop. Alternatively, the handle can be rigid or unmovable. In afurther alternative, the handle 232 is any component in anyconfiguration that allows for easy repositioning or manipulation of thedevice 220. In one aspect, the handle 232 is provided to allow for agrasping tool or other type of tool to attach to the device 220 via thehandle 232 and thereby reposition or otherwise manipulate the device 220in the patient. That is, the device 220 can be repositioned using thehandle 232 to provide a different field of view for the imagingcomponent 224, thereby providing a new viewpoint for the user. Thus, themovement of the device 220 enables the imaging component 224 to obtainan image of at least a portion of the surgical area from a plurality ofdifferent angles without constraint by the entry incision.

The light component 226, according to one embodiment, is configured tolight the area to be viewed, also referred to as the “field of view.” Inone implementation, the light component 226 is proximate to the imagingcomponent to provide constant or variable illumination for the camera.Alternatively, the light component 226 is associated with the handle 232as depicted in FIG. 14. In such an embodiment, the light source 226illuminates the field of view as well as the handle 232, therebyfacilitating easy capture or grasping of the handle 232 by a tool.

In one example, the lighting component 226 is an LED light.Alternatively, an exemplary light source is two 5 mm LEDs. In a furtheralternative, the lighting component 226 can be any suitable illuminationsource.

In one implementation, the imaging component 224 depicted in FIG. 14 canbe a camera or any other imaging device. In certain embodiments, theimaging component can be any imaging component as described above withrespect to mobile robotic devices. Regardless, the camera can be anyknown imaging component that can be used with any of the fixed baserobotic devices contemplated herein. In one embodiment, the imagingcomponent is a stereo camera that creates a three-dimensional image.

The imaging component can help to increase or improve the view of thearea of interest (such as, for example, the area where a procedure willbe performed) for the user. According to one embodiment, the imagingcomponent provides real-time video to the user. Alternatively, theimaging component can be any imaging component as described above withrespect to the mobile robotic devices.

FIG. 15 depicts another embodiment of a fixed base robotic camera device240. The device 240 has a tilting component 242 and a panning component244, 246. The panning component 244, 246 has a small ball bearingstructure 244 that is attached to a base 246, thereby allowing freedomof rotation. That is, the structure 244 is rotatable with respect to thebase 246. In certain embodiments, the panning and tilting componentsprovide rotation about two independent axes, thereby allowing thesurgeon more in-depth visualization of the abdominal cavity for surgicalplanning and procedures.

In accordance with one implementation, the tilting component 242 ispivotally coupled to the body 248 via a pin (not shown). Alternatively,the tilting component can be a standard ratchet mechanism or any othertype of suitable component known in the art. According to oneembodiment, the tilting component 242 can tilt up to about 45 degreesfrom vertical (i.e., a range of about 90 degrees). Alternatively, thetilting component 242 can tilt any amount ranging from about 0 degreesto about 360 degrees from vertical, or the tilting component 242 canconfigured to rotate beyond 360 degrees or can rotate multiple times. Incertain embodiments such as the embodiment depicted in FIG. 2, thetilting component 242 is a separate component associated with, butindependent of, the body 248. Alternatively, the tilting component isincorporated into the body 248 or into the camera component 250.

The panning component 244, 246, according to one embodiment, has the twocomponents 244, 246 that rotate with respect to each other as describedabove with respect to FIG. 2. Alternatively, the panning component canbe any suitable component known in the art. According ton oneimplementation, the panning component 244, 246 provides for panning thedevice up to and including or beyond 360 degrees. Alternatively, thepanning component 244, 246 provides for panning any amount ranging fromabout 180 degrees to about 360 degrees. In a further alternative, thepanning component 244, 246 provides for panning any amount ranging fromabout 0 degrees to about 360 degrees. In certain embodiments such as theembodiment depicted in FIG. 2, the panning component 244, 246 is aseparate component associated with, but independent of, the body 248.Alternatively, the panning component is incorporated into the body 248or into the camera component 250.

In one aspect, any fixed base robotic device described herein has adrive component (not shown). In accordance with certain embodiments, thefixed base robotic device can have more than one drive component. Forexample, in one embodiment, a fixed base robotic device has a motor foractuating the panning component and another motor for actuating thetilting component. Such motors can be housed in the body componentand/or the support component. In one example, the actuator or actuatorsare independent permanent magnet DC motors available from MicroMo™Electronics, Inc. in Clearwater, Fla. Other suitable actuators includeshape memory alloys, piezoelectric-based actuators, pneumatic motors,hydraulic motors, or the like. Alternatively, the drive component can beany drive component as described in detail above with respect to mobilerobotic devices. In a further alternative embodiment, the panning andtilting components can be actuated manually.

In one embodiment, the actuator is coupled to a standardrotary-to-translatory coupling such as a lead screw, a gear, or apulley. In this fashion, the force created by the actuator is translatedwith the rotary-to translatory coupling.

Moreover, it is also contemplated that the body or camera in certainembodiments could be capable of a side-to-side motion (e.g., yaw).

Various embodiments of fixed base robotic devices have anadjustable-focus component. For example, one embodiment of anadjustable-focus component 60 that can incorporated into variousembodiments of the fixed base robotic devices described herein isdepicted in FIG. 4 and described in detail above. Alternatively, avariety of adjustable-focus means or mechanisms are known in the art andsuitable for active or passive actuation of focusing an imagingcomponent. For example, one design employs the use of a motor and a leadscrew. The motor turns a turn-table that is attached to a lead screw. Amating nut is attached to the imager. As the lead screw turns the imagertranslates toward and away from the lens that is mounted to the body ofthe robot.

According to one embodiment, the imaging component can have a lenscleaning component. For example, the lens cleaning component can be awiper blade or sacrificial film compose of multiple layers formaintaining a clear view of the target environment. In a furtherembodiment, the lens cleaning component can be any known mechanism orcomponent for cleaning a camera lens.

Certain embodiments of the fixed base robotic devices, such as theembodiment depicted in FIG. 16, are designed to collapse or otherwise bereconfigurable into a smaller profile. For example, according to oneembodiment, the device 260 is configurable to fit inside a trocar forinsertion into and retraction from an animal's body. In the collapsedposition as depicted, handle 262 is coaxial with robot body 264 ofdevice 260. Upon introduction into an open space, handle 262 can bedeployed manually, mechanically actuated, or spring loaded asexemplified herein to rotate down 90 degrees to a position similar tothat shown in FIGS. 1 and 2. In one embodiment, such passive actuationis achieved with torsion springs (not shown) mounted to the handle atthe axis of rotation.

The support component 266, as depicted in FIG. 16, is a set of one ormore legs 266 that are moveable between a collapsed and a operational ordeployed position. For example, in FIG. 16, the legs in the collapsedposition are coaxial with body 264 of the device 260. The supportcomponent 266 can be deployed manually, or by mechanical actuation, oras by spring loading as exemplified herein (e.g., with torsion springs)to rotate up 90 degrees to a configuration similar to that shown in theFIGS. 1 and 2. According to one implementation, the support componentcan be, but is not limited to, legs, feet, skis or wheels, or any othercomponent that can facilitate positioning, weight distribution, and/orstability of a fixed base robotic device of any configuration describedherein within a patient's body. Alternatively, the support component canbe equipped with magnets such that the device could be suspended withinthe open space by positioning a magnet external of the open space.

According to one aspect, any fixed base robotic device embodimentdescribed herein is connected to an external controller via a connectioncomponent. According to one embodiment, the connection component is anywired or flexible connection component embodiment or configuration asdescribed above with respect to mobile robotic devices. Alternatively,the connection component is a wireless connection component according toany embodiment or configuration as described above with respect tomobile robotic devices. The receiver and transmitter used with awireless robotic device as described herein can be any known receiverand transmitter, as also described above. According to anotherimplementation described in additional detail above with respect to themobile devices, any fixed base robotic device embodiment describedherein can be connected via a (wired or wireless) connection componentnot only to the external controller, but also to one or more otherrobotic devices of any type or configuration, such devices being eitheras described herein or otherwise known in the art.

In one embodiment, the data or information transmitted to the roboticdevice could include user command signals for controlling the device,such as signals to move or otherwise operate various components.According to one implementation, the data or information transmittedfrom the robotic device to an external component/unit could include datafrom the imaging component or any sensors. Alternatively, the data orinformation transmitted between the device and any externalcomponent/unit can be any data or information that may be useful in theoperation of the device.

In accordance with one implementation, any fixed base robotic device asdescribed herein can have an external control component according to anyembodiment as described above with respect to the mobile roboticdevices. That is, at least some of the fixed base devices herein areoperated by a controller that is positioned at a location external tothe animal or human. In one embodiment, the external control componenttransmits and/or receives data. In one example, the unit is a controllerunit configured to control the operation of the robotic device bytransmitting data such as electronic operational instructions via theconnection component, wherein the connection component can be a wired orphysical component or a wireless component. Alternatively, the externalunit is any component, device, or unit that can be used to transmit orreceive data.

In use, the controller can be used to control the movement or operationof any components of the device such as the camera component, a sensorcomponent, or any other component. For example, one embodiment of thecontroller controls the focus adjustment of the camera, and furthercontrols the panning and/or tilting functions of the device.

According to one embodiment, the control component is configured tocontrol the operation of the image sensor, the panning component, andthe tilting component. In one embodiment, the control componenttransmits signals containing operational instructions relating tocontrolling each of those components, such as, for example, signalscontaining operational instructions to the image sensor relating toimage quality adjustment, etc.

In accordance with one embodiment, the control component also serves asa power source for the robotic device.

According to one implementation, the fixed base robotic device iscoupled to an image display component. The image display component canbe any image display component as described above with respect to themobile robotic devices.

A fixed base robotic device as described herein, according to oneimplementation, has a power source or power supply. According to oneembodiment, the power source is any power source having anyconfiguration as described above with respect to the mobile roboticdevices. According to various embodiments, power can be provided by anexternal tether or an internal power source. When the device is wireless(that is, the connection component is wireless), an internal powersupply can be used. Various implementations of the fixed base roboticdevices can use alkaline, lithium, nickel-cadmium, or any other type ofbattery known in the art. Alternatively, the power source can bemagnetic induction, piezoelectrics, fluid dynamics, solar power, or anyother known power source. In a further alternative, the power source isa power unit positioned within the patient's body. In this embodiment,the power unit can be used to supply power not only to one or morerobotic camera devices, but can also to any other surgical roboticdevices.

In one embodiment, the fixed base robotic device has one or more sensorcomponents. In various embodiments, such sensor components include anyof the sensor components as described above with respect to the mobilerobotic devices.

According to one embodiment, the fixed base robotic device has one ormore operational components. In various embodiments, such operationalcomponents include any of the operational components as described abovewith respect to mobile robotic devices. For example, one embodiment of afixed base robotic device has an agent delivery component disposedwithin the body of the device. In another implementation, theoperational component can also include an arm or other positioningcomponent. For example, the operational component can include an arm anda biopsy tool. Alternatively, the operational component can include apositioning component and any operational component as described above.

According to one embodiment, any of the components on any fixed baserobotic device as described herein can be known, commercially availablecomponents.

In use, any of the fixed base robotic devices can be used in varioussurgical procedures. For example, a fixed base device can be used incombination with a laparoscopic surgical tool, wherein the device isadapted to fit through a port of the laparoscopic surgical tool and usedfor obtaining an internal image of an animal. In still otherembodiments, the whole of the device is introduced into an open space toobtain internal images.

Alternatively, the fixed base robotic devices can be used in oralsurgery and general dental procedures to provide an image ofparticularly difficult-to-access locations. Additionally, it will alsobe appreciated by those skilled in the art that the devices set forthherein can be applied to other functional disciplines wherein the devicecan be used to view difficult-to-access locations for industrialequipment and the like. For example, the device could be used to replacemany industrial boroscopes.

Any of the robotic devices described herein can be used in variousdifferent surgical methods or procedures in which the device is usedinside the patient's body. That is, the robotic devices can be usedinside the patient's body to perform a surgical task or procedure and/orprovide visual feedback to the user.

According to one embodiment, any of the mobile devices described abovecan be inserted entirely into the patient, wherein the patient can beany animal, including a human. In known laparoscopic procedures, the useof small incisions reduces patient trauma, but also limits the surgeon'sability to view and touch directly the surgical environment, resultingin poor sensory feedback, limited imaging, and limited mobility anddexterity. In contrast, the methods described herein using the variousrobotic devices inside the body can provide vision and surgicalassistance and/or perform surgical procedures while the robotic deviceis not constrained by the entry incision.

In one embodiment, any of the above devices can be used inside anabdominal cavity in minimally invasive surgery, such as laparoscopy.Certain of the devices are sized and configured to fit through standardlaparoscopic tools. According to one embodiment, the use of a roboticdevice inserted through one standard laparoscopy port eliminates theneed for the second port required in standard laparoscopic procedures.

According to one embodiment, robotic devices as described herein havinga camera can allow for planning of trocar insertion and tool placement,as well as for providing additional visual cues that will help theoperator to explore and understand the surgical environment more easilyand completely. Known laparoscopes use rigid, single view cameras withlimited fields of view inserted through a small incision. To obtain anew perspective using this prior art device often requires the removaland reinsertion of the camera through another incision, therebyincreasing patient risk. In contrast, the robotic devices with camerasas described herein provide one or more robots inside an abdominalcavity to deliver additional cavity images and easy adjustment of thefield of view that improve the surgeon's geometric understanding of thesurgical area. The ability to reposition a camera rapidly to arbitrarylocations will help the surgeon maintain optimal orientation withrespect to other tools.

In accordance with one implementation, any of the mobile robotic devicesdescribed herein can be used not only in traditional surgicalenvironments such as hospitals, but also in forward environments such asbattlefield situations.

Although the present invention has been described with reference topreferred embodiments, persons skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

EXAMPLE 1

This example is an examination biopsy tool design for a mobile roboticdevice. The device should produce sufficient clamping and drawbar forcesto biopsy porcine tissue.

To examine clamping and drawbar forces used during a biopsy,experimental biopsies were conducted. A biopsy forceps device that iscommonly used for tissue sampling during esophago-gastroduodenoscopy(EGD) and colonoscopies was modified to measure cutting forces duringtissue biopsy. These forceps 280, shown schematically in FIG. 17A, werecomposed of a grasper 282 on the distal end with a handle/lever system284 on the proximal end. A flexible tube 286 was affixed to one side ofthe handle 284 and the other end was attached to the fulcrum point 288of the biopsy grasper 282. A wire 290 enclosed in plastic (Teflon®)inside tube 286 was used to actuate the grasper 282. This wire 290 wasaffixed to the free end of the handle lever 284 and at the other end tothe end of the grasper lever arm 292. Actuation of the handle lever 284caused wire 290 to translate relative to the tube 286 and actuate thebiopsy graspers 282. The tip of the forceps was equipped with a smallspike 294 that penetrated the tissue during sampling.

The diameter of the forceps (h) depicted in FIG. 17A was 2.4 mm. Thedimensions of c, g and f were 2.1 mm, 2.0 mm, and 6.7 mm, respectively.The force at the tip of the grasper when the forceps were nearly closedwas a function of the geometric design of the forceps.

$F_{tip} = {F_{cable}\left( \frac{d}{a + b} \right)}$

For a cable force of 10 N, the force at the tip was approximately 1.4 Nfor this design where a was 2.9 mm, b was 1.7 mm, and d was 0.65 mm. Themaximum area of the forceps in contact with tissue during a biopsy was0.3756 mm².

$P_{contact} = \frac{F_{tip}}{A_{contact}}$

Assuming an even distribution of force, the applied pressure wasapproximately 3.75 MPa. However, by taking a smaller “bite”, the contactarea was reduced and the pressure can be drastically increased and therequired force was decreased.

A normal biopsy device 300 was modified to contain a load cell 302 tomeasure clamping forces indirectly, as shown in FIG. 17B. Themodifications made to this tool included cutting the tube 304 and wires306 to place a load cell 302 in series with the wires 306 to measuretensile force when the wires 306 were actuated as shown in FIG. 17B. Aplastic case 308 was built to connect the two free ends of the tube toretain the structure of the system, while the wires 306 were affixed tothe free ends of the load cell 302. Using this design, the force in thecable was measured. Along with the above model, the force at the tip ofthe grasper was estimated while sampling sets of in vivo tissue using aporcine model.

Measurements of cable force were made while sampling liver, omentum,small bowel and the abdominal wall of an anesthetized pig.Representative results for a liver biopsy are shown in FIGS. 18A and18B. In one test, with results depicted in FIG. 18A, the initialnegative offset was due to the slight compression in the cable to pushthe grasper jaws open before biopsy. The average maximum measured forceto biopsy porcine liver for three samples was 12.0±0.4 N. These resultsare consistent in magnitude with other published results(Chanthasopeephan, et al. (2003) Annals of Biomedical Engineering31:1372-1382) concerning forces sufficient to cut porcine liver.

Generally, biopsy forceps do not completely sever the tissue. When thisis the case, the forceps are gently pulled to free the sample. Thisextraction force also needs to be produced by a biopsy robot. Themagnitude of the extraction force needed to be determined so that arobot could be designed to provide sufficient drawbar force to free thesample.

A laboratory test jig was built to measure the force needed to free abiopsy sample of bovine liver. After clamping the sample with the biopsyforceps, a load cell attached to the handle of the device was gentlypulled to free the sample while the tensile force was recorded.Representative results shown in FIG. 18B indicate that approximately 0.6N of force is needed to extract bovine liver tissue with the use of thebiopsy forceps.

As indicated, a complete cut of the tissue is rarely achieved and sometearing of the sample is needed to extract the sample. To obtain abiopsy sample, the in vivo robot embodiment of the present exampleshould produce enough drawbar force to pull the sample free. A biopsyrobot similar to the devices shown in FIGS. 9A and 9B was tested in vivoand with excised bovine liver to measure drawbar forces. The biopsygrasper (tail of the robot) was attached to a stationary load cell. Inthe first test, for which results are depicted in FIG. 19, the robotspeed was slowly increased as the drawbar force was recorded. Aftermaximum drawbar force was achieved, around 11 seconds, the robot wheelmotion was stopped. Results demonstrated that the robot was capable ofproducing approximately 0.9 N of drawbar force. This amount of force is50% greater than the target of 0.6 N in the laboratory measurements, asshown in FIG. 18B. This drawbar force is therefore sufficient for sampleextraction.

In the second test, for which results are depicted in FIG. 20, the robotspeed was first slowly increased and then decreased as the drawbar forcewas recorded. A pulse width modulated voltage signal to the wheel motorswas linearly ramped from 0% to 100% during the first 20 seconds and thenback to 0% during the second 20 seconds. This test was completed fivetimes. The dark line is the average of all five tests. Results of thistest demonstrate that the robot tested is capable of producingapproximately 0.65 N of drawbar force. This amount of force is roughly10% greater than the target of 0.6 N in the laboratory measurements.

As depicted in FIG. 21, an actuation mechanism was also developed todrive the biopsy grasper and the camera of the embodiment discussed inthis example. The lead screw 322 was extended through the slider 328.The lead nut 324 was then allowed to translate far enough so that at thepoint of grasper 330 closure the linkage 326 approaches a mechanismsingularity where output force is very large (i.e., at orapproaching)0°. The slider 328 is a nearly hollow cylinder and the leadnut 324 and linkage 326 are inside the slider 328 when the linkage isnear its singularity. The grasper wires 332 are attached to slider 328as is either the camera lens or image sensor. This provides the cameraan adjustable-focus feature necessary in the in vivo environment.

A direct current motor 320 drives the lead screw 322 vertically as thelinkage 326 transforms the vertical motion of the lead nut 324 to thehorizontal translation of the slider 328. This allows for a largemechanical advantage at the point when the graspers are nearly closed.

Force measurements were made in the laboratory to determine the maximumamount of force that could be produced using the biopsy robot embodimentof this example. Representative results from these tests are shown inFIG. 22. The average maximum force produced for three samples was9.6±0.1 N. This force was about 16% smaller than the 12 N measuredduring one in vivo test as described herein, and about 7% larger thanthe 9 N measured during the second in vivo test as described herein.However, the 12 N merely represents the force that was applied. It doesnot represent the minimum force required to biopsy the tissue. Withoutbeing limited by theory, it is probable that the surgeon performed thebiopsy and continued to increase the force and merely “squeezed” thesample. The surgeon applied what was known to be a sufficient forcerather than a minimum force. The required force could also be largelyreduced by simply taking a smaller biopsy sample. Reducing the contactarea by 16% would produce the same applied stress.

In vivo mobility testing with the embodiment discussed herein indicatedthat the wheel design of the instant embodiment produces sufficientdrawbar forces to maneuver within the abdominal environment, allowingthe robot to traverse all of the abdominal organs (liver, spleen, smalland large bowel), as well as climb organs two to three times its height.These tests were performed without causing any visible tissue damage.

After exploring the abdominal environment, the biopsy mechanismdescribed in this example was used to acquire three samples of hepatictissue from the liver of the animal. The robot camera was used to find asuitable sample site. The biopsy graspers were opened and the samplesite was penetrated with the biopsy forceps' spike. Then the grasperswere actuated. This cut nearly all of tissue sample free. The robot wasthen driven slowly away from the sample site thereby pulling free thetissue sample. This tissue sample was then retrieved after robotextraction through the entry incision. This demonstrated the success ofa one-port biopsy and successful tissue manipulation by an in vivorobot, according to one embodiment.

EXAMPLE 2

A laboratory two-component drug delivery system is shown in FIG. 23 thatincorporates two drug storage reservoirs. The fluid reservoir, adaptedfrom a standard syringe, is used to hold a drug component in liquidform. The solid reservoir stores a second drug component in powderedform. As force is applied to the plunger, the liquid component flowsthrough the reservoir holding the solid component. A partially mixedsolution then flows into a chamber where the mixing process iscompleted. The activated compound then flows through the delivery nozzleto the targeted site.

The ability of this system to adequately mix liquid and solid componentsof a drug was evaluated in a series of bench top experiments. The liquidand solid drug components were simulated using commonly availablematerials (e.g., corn starch, dyed saline solution, etc). One visualmetric of mixing efficiency is the color uniformity of the mixture asdetermined by measuring the RGB color components of the mixture usingimage processing software. Representative results are shown in FIG. 24.The images on the left and right show the RGB values for the solid andliquid components prior to mixing, respectively. The image in the centershows the resulting mixture. The similarity of the RGB color values fortwo representative areas of the mixture is indicative of uniform mixingof the two components.

Bench top tests were also conducted to determine the force that could beapplied by an actuation mechanism that could be incorporated into thistype of drug delivery tool. One type of mechanism might use a permanentmagnet direct current motor (MicroMo, 2005) with a lead screw mounted onthe motor shaft. Rotation of the lead screw would move a lead nutattached to the fluid reservoir plunger in and out to dispense the twodrug components. This concept was implemented in a test jig 180,illustrated in FIG. 12, that includes a load cell 182 for measuring theapplied force created by the motor 184 to move the plunger 186. Forcemeasurements were made in the lab to determine the maximum force thatcould be produced using this type of actuator design. Representativeresults from these tests indicate that the average maximum forceproduced is approximately 10.0 N.

Nagelschmidt (1999) found that the maximum force required to mix anddispense fibrin-based hemostatic agents through 1 mm diameter catheters27 cm long was less than 5 N. These results strongly suggest that theactuation mechanism described above will generate sufficient forces todeliver dual component fibrin-based hemostatic agents.

What is claimed is:
 1. A robotic device, comprising: (a) a medicaldevice body configured to be disposed through a port or incision in acavity wall of a patient, the body comprising an actuator; (b) acontroller disposed at an external location in relation to the patient;(b) a connection component coupled to the medical device body and thecontroller, the connection component comprising a wired connectioncomponent; and (c) an arm comprising: (i) a first arm componentpivotally connected to the medical device body at a first pivotal joint;and (ii) a second arm component pivotally connected to the first armcomponent at a second pivotal joint, wherein the arm is configured to bepositionably disposed entirely within the cavity of the patient.
 2. Therobotic device of claim 1, further comprising a first actuator operablycoupled to the first pivotal joint, and a second actuator operablycoupled to the second pivotal joint.
 3. The robotic device of claim 1,wherein the first pivotal joint comprises first and second operablycoupled gears and the second pivotal joint comprises third and fourthoperably coupled gears.
 4. The robotic device of claim 3, wherein thefirst, second, third, and fourth gears are bevel gears.
 5. The roboticdevice of claim 3, wherein the first gear is connected to a first gearshaft associated with the body and wherein the second gear is connectedto a second gear shaft associated with the first arm component.
 6. Therobotic device of claim 3, wherein the third gear is connected to athird gear shaft associated with the first arm component and wherein thefourth gear is connected to a fourth gear shaft associated with thesecond arm component.
 7. The robotic device of claim 1, furthercomprising an imaging device associated with the body.
 8. The roboticdevice of claim 1, further comprising a sensor associated with the body.9. The robotic device of claim 1, further comprising an imaging deviceassociated with the body and a sensor associated with the body.
 10. Therobotic device of claim 1, wherein the cavity of the patient is aperitoneal cavity.
 11. The robotic device of claim 1, wherein the cavityof the patient is an insufflated cavity.
 12. A robotic device,comprising: (a) a medical device body configured to be positionablewithin a cavity of a patient and configured to be disposed through aport or incision; and (b) a controller positioned outside the cavity ofthe patient; (c) a wired connection component coupled to the medicaldevice body and the controller; (d) an imaging device operably coupledto the controller; and (e) an arm comprising: (i) a first arm componentpivotally connected to the body at a first pivotal joint, the first armcomponent comprising a first actuator operably coupled to the firstpivotal joint; and (ii) a second arm component pivotally connected tothe first arm component at a second pivotal joint, the second armcomponent comprising a second actuator operably coupled to the secondpivotal joint.
 13. The robotic device of claim 12, wherein the imagingdevice is positioned on the body.
 14. The robotic device of claim 12,wherein the imaging device is positioned on the arm.
 15. The roboticdevice of claim 12, wherein the controller is operably coupled to thefirst and second actuators via the wired connection component.
 16. Therobotic device of claim 12, further comprising a sensor associated withthe body.
 17. The robotic device of claim 12, wherein the cavity of thepatient is a peritoneal cavity.
 18. The robotic device of claim 12,wherein the cavity of the patient is an insufflated cavity.